Towards an understanding of dancers' coupled body dynamics for waltz

Wang, Hong; Kosuge,

doi:10.1109/iros.2011.6048333

Cited by 3 publications

(3 citation statements)

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“…10(b) and Fig. 10(c), the two dancer's orbits are coupled with reduced interaction force (compared with the results of [10], [11]). The simulated ankle torque u f is also kept within a reasonable range ( Fig.…”

Section: B the Physical Interactionmentioning

confidence: 99%

“…A proper model of the dancers' coupled body dynamics is crucial in achieving good performance in pHRI. In our previous work we modeled dancers as two linear inverted pendulums (LIPM, proposed in [9]) connected by a spring and a damper [10], [11]. However, because of LIPM's unstable orbit, it has large sensitivity to initial condition and disturbance; with the sensitivity problem and measurement noise, it is very difficult to reliably estimate and predict the human leader's state.…”

Section: Introductionmentioning

confidence: 99%

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Attractor design and prediction-based adaption for a robot waltz dancer in physical human-robot interaction

Wang

Kosuge

2012

Proceedings of the 10th World Congress on Intelligent Control and Automation

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Physical human-robot interaction between a human leader and a robot follower in waltz is studied in this paper. The dancers' body dynamics in single-support phase are modeled as inverted pendulums. On the robot side, an ankle torque control method is proposed and applied. The control law forms a time-dependent vector field, which makes the nominal orbit of the robot to be an attractor. To physically interact with human, the human leader's state is estimated from range image data by using an extended Kalman filter. Parameters of the robot's orbit are then adjusted according to the leader's estimated and predicted state. The proposed method is verified by simulation results.Index Terms-Physical human-robot interaction, inverted pendulum, attractor, extended Kalman filter.

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Section: B the Physical Interactionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Attractor design and prediction-based adaption for a robot waltz dancer in physical human-robot interaction

Wang

Kosuge

2012

Proceedings of the 10th World Congress on Intelligent Control and Automation

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“…3 Two mobile manipulators have been developed to dance together and their performances have been demonstrated to confirm force control methods. 27 Recently, mobile manipulators have been equipped with two wheels for challenging control tasks. [1][2][3][28][29][30][31] A two-wheel limbo robot has been presented for limbo dance based on planning and control to demonstrate robust balancing control.…”

Section: Introductionmentioning

confidence: 99%

Development of a two-wheel mobile manipulator: balancing and interaction control

Ahn

Jung

2014

Robotica

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This paper focuses on practical application of a mobile manipulator by presenting the development and control of a two-wheel mobile robot with two arms called a balancing service robot (BSR) designated for indoor services. The mobile manipulator requires not only robust balancing position control but also force control to interact with objects. Movements with two wheels are controlled to satisfy stable balancing control for navigation and manipulation with two arms to perform given tasks. The robot is required to deal with external forces to maintain balance. The position-based impedance force control method (the admittance control) is utilized by filtering the force with the impedance function to react to the applied force from the operator. Experimental studies of navigation control under balancing condition and interacting control with a human operator are demonstrated. Experimental results confirm that the robot has smooth reaction against the disturbance induced by the applied external force.

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A model predictive control approach for the Partner Ballroom Dance Robot

Buondonno

Patota

Wang

et al. 2015

2015 IEEE International Conference on Robotics and Automation (ICRA)

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A model predictive controller is developed for following the position of a human dancer in robot ballroom dancing. The control design uses a dynamic model of a dancer, based on a variant of the so-called 3D Linear Inverted Pendulum Mode that includes also the swing foot. This model serves as a basis for a Kalman predictor of the human motion during the single-support phase, while a simpler kinematic technique is used during the double-support phase. The output of the prediction filter enables to design a Model Predictive Control (MPC) law, by recursively solving on line and within a preview window a convex linear-quadratic optimization problem, constrained by differential kinematic bounds on robot commands. Two different control strategies, either at the velocity or at the acceleration level, are proposed and compared in simulations and in actual experiments. Accurate and reactive behaviors are obtained by the ballroom robot follower, confirming the benefit of the predictive/filtering nature of a MPC approach to handle uncertainty of human intentions and noisy signals

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Towards an understanding of dancers' coupled body dynamics for waltz

Cited by 3 publications

References 0 publications

Attractor design and prediction-based adaption for a robot waltz dancer in physical human-robot interaction

Attractor design and prediction-based adaption for a robot waltz dancer in physical human-robot interaction

Development of a two-wheel mobile manipulator: balancing and interaction control

A model predictive control approach for the Partner Ballroom Dance Robot

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